Back to Writing EEROS Applications for cb20 Board.

Fetch the EEROS scripts in your project root directory on your host and checkout the branch for the cb20 board

$ git clone https://github.com/eeros-project/eeros-build-scripts.git
$ cd eeros-build-scripts
$ git checkout sdk_cb20

The file config.sh.in contains entries for the destination of deploying.

target_IP_address=146.136.100.8      // use appropriate ip number or name
target_username=ost      
target_application_folder=/home/ost/

Next, edit deploy.txt on the host in your project directory and enter the application program you want to transfer together with the necessary hardware configuration file, e.g.

../simple-motor-control/build-armhf/simpleMotorControl
../simple-motor-control/build-armhf/HwConfigBBBlue.json

If you wrote your own Say Hello with EEROS the file would look like

../hello/build-armhf/helloworld

Finally, load them onto the target with

$ ./deploy.sh

ssh into the board with

$ ssh ost@es140.ntb.ch

For credentials see cb20.

Change into your target application folder and run the example

$ cd bin
$ ./helloworld
or
$ sudo ./simpleMotorControl -c HwConfigBBBlue.json

Be sure to setup your network settings according to Network Setup. Set the environment variable ROS_MASTER_URI in your shell with

export ROS_MASTER_URI=http://192.168.7.3:11311

Add the following line to your /etc/hosts file (under Ubuntu)

192.168.7.2  cb20

Run your application with

$ sudo -E ./application

Running the built-in examples of EEROS as given in the tutorial pages in Tutorials is quite simple, e.g.

$ sudo /usr/examples/rtTest/rtTest

The flink utilities can be used for testing the experimental setup as given in Experimental Setup with a cb20 Board.

Make sure to fetch the CANopen library, see https://github.com/eeros-project/eeros-build-scripts. The library has to be compiled and linked statically to your application. There is no need to transfer is to the target separately.